Abstract

The positioning systems generally need a controller to achieve high accuracy, fast response and robustness. In addition, ease of controller design and simplicity of controller structure are very important for practical application. For satisfying these requirements, NCTF (nominal characteristic trajectory following) controller has been proposed as a practical PTP positioning control. However, the effect of actuator saturation can not be completely compensated due to integrator windup because of plant parameter variations. This study presents a method to improve the NCTF controller for overcoming the problem of integrator windup by adopting fuzzy anti-windup schemes. Two fuzzy anti-windup schemes based on Mamdani and Takagi-Sugeno fuzzy system are developed and evaluated their effectiveness. The improved NCTF controller with the proposed fuzzy anti-windup schemes is evaluated through simulation using dynamic model of a rotary positioning system. The results show that the improved NCTF controller with Takagi-Sugeno-based fuzzy windup is the best scheme to compensate for the effect of integrator windup.